Revision 1825
Wireless: updated library to make it more readable and to reduce possible errors with acking (untested changes, but shouldn't be broken or something is very wrong).
| xbee.c | ||
|---|---|---|
| 31 | 31 |
* |
| 32 | 32 |
* @author Colony Project, CMU Robotics Club |
| 33 | 33 |
**/ |
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// TODO Why are we including lights? Because lights are awesome. No, really, figure this out. |
|
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#include <lights.h> |
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|
| 36 | 37 |
#include <string.h> |
| ... | ... | |
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#define XBEE_COMMAND_MASK 0xC0 |
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#define XBEE_NOT_INITD 0xF0 |
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#define LAST_PACKET_MASK 0x0F |
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uint8_t xbee_status = XBEE_NOT_INITD; |
|
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uint8_t xbee_status = XBEE_NOT_INITD; //This is the super-byte
|
|
| 127 | 128 |
|
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// xbee command response (for PAN, channel, address, etc) |
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static uint8_t xbee_command[8]; |
| ... | ... | |
| 198 | 199 |
|
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// get length and type |
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while(i<3) {
|
| 201 |
if (FLAG) {
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|
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if (FLAG) { //if there is a byte to read //checks for escape characters in API mode 2. This repeats below (should be a function)
|
|
| 202 | 203 |
if (i==0) {
|
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE |
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&& apitype == ESCAPE_MARKER) |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE && apitype == ESCAPE_MARKER) //apitype is used here as dummy var |
|
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apitype = PORT ^ ESCAPE_XOR; |
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else {
|
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apitype = PORT; |
| ... | ... | |
| 250 | 250 |
uint8_t ptr=basic_buf_last; |
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uint8_t status=0; |
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while(i<len) {
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if (FLAG) {
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|
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if (FLAG) { //more escape characters
|
|
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if (i==1) {
|
| 255 | 255 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE |
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&& apitype == ESCAPE_MARKER) |
| ... | ... | |
| 332 | 332 |
for(uint8_t j=0;j<(len-5);j++) |
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WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2)); |
| 334 | 334 |
WL_DEBUG_PRINT_P("|\r\n");
|
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//end of DEBUG_PRINT |
|
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xbee_handle_at_command_response(atcommand,status,len-5); |
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break; } |
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case XBEE_FRAME_STATUS: {
|
| ... | ... | |
| 379 | 380 |
&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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ackhandle(frame_id,apitype); // handle the status |
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ackhandle(frame_id,apitype); // handle the status (stored in apitype)
|
|
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break; |
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} |
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i++; |
| ... | ... | |
| 481 | 482 |
WL_DEBUG_PRINT_P("|ptr2=");
|
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WL_DEBUG_PRINT_INT(ptr); |
| 483 | 484 |
|
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if (group == 0) {
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|
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if (group == 0) { //writes the packet to the buffer
|
|
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WL_DEBUG_PRINT_P("|last1=");
|
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WL_DEBUG_PRINT_INT(basic_buf_last); |
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WL_DEBUG_PRINT_P("|ptr1=");
|
| ... | ... | |
| 720 | 721 |
|
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/** status functions **/ |
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inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; }
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void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); }
|
|
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void setStatus(uint8_t mask,uint8_t value) {
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xbee_status = ((xbee_status&(~mask))|value); //xbee is the super-byte |
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} |
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|
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/** |
| ... | ... | |
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// Set startup baud rate of 9600 |
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// Set frame format: 8data, 1stop bit, asynchronous normal mode |
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// Enable receiver and transmitter and the receiving interrupt |
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// DO NOT TOUCH |
|
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#ifdef FIREFLY |
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UBRR0H = 0x00; |
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UBRR0L = 103; |
| ... | ... | |
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} |
| 1100 | 1104 |
|
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/** |
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* Enter API mode. |
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* Enter API mode 1.
|
|
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**/ |
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static int8_t xbee_enter_api_mode(void) {
|
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if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) {
|
| ... | ... | |
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if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
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// wait until the response is received (only wait 1 second) |
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while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) {
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delay_us(1); |
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delay_us(1); //3 us
|
|
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} |
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// check response |
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if (i >= 1000) {
|
| ... | ... | |
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} |
| 1412 | 1416 |
|
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/** |
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* Send the specified packet. |
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* Send the specified packet. (wl_send depreciates this)
|
|
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* |
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* @param packet the packet data to send |
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* @param len the number of bytes in the packet |
| ... | ... | |
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/** |
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* Set the channel the XBee is using. |
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* |
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* @param channel the channel the XBee will not use,
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|
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* @param channel the channel the XBee will use, |
|
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* between 0x0B and 0x1A |
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* |
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* @reutrn success or error code |
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* |
|
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* @see xbee_get_channel |
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**/ |
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int8_t xbee_set_channel(uint8_t channel) |
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